Improving the accuracy of the UAV following along a given trajectory under wind loads by the SPSA method

Improving the accuracy of the UAV following along a given trajectory under wind loads by the SPSA method

Konstantin S. Аmelin
PhD in Physics and Mathematics, Saint Petersburg University, Scientific and Educational Center «Mathematical Robotics and Artificial Intelligence», Director, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(904)510-51-09, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3643-5132

Oleg N. Granichin
Doctor of Physical and Mathematical Sciences, Saint Petersburg University, Professor, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(921)740-03-37, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3631-7347

Vladimir S. Malzev
Saint Petersburg University, Scientific and Educational Center «Mathematical Robotics and Artificial Intelligence», Researcher, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia, tel.: +7(921)567-19-64

Sergey F. Sergeev
Doctor of Psychological Science, Professor, Saint Petersburg University, Professor, 7-9, Universitetskaya naberezhnaya, Saint Petersburg, 199034, Russia; Peter the Great Saint Petersburg Polytechnical University (SPbPU), Scientific and Research Laboratory of Complex Systems, Head of Laboratory, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, tel.: +7(911)995-09-29, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6677-8320

Received 30 August 2021

Abstract
One of the main areas of UAV application is the collection of data with their exact binding to the selected coordinate system (for example, aero photography). In this case, it is important to not only get the exact coordinates of data collection, but also to ensure the minimum deviation of the UAV from the path under the conditions of external disturbances (wind loads) acting on it. In the article a procedure for assessing wind speed and direction using the SPSA method is proposed. The results of simulation modeling of the algorithm's operation confirmed during field tests on an ultralight UAV are presented.

Key words
UAV control system, randomized algorithms, Kalman filter, GNSS, random process prediction methods.

Acknowledgements
This research is supported by St. Petersburg State University, project no. 73555239.

DOI
10.31776/RTCJ.9403

Bibliographic description
Amelin K. et al., 2021. Improving the accuracy of the UAV following along a given trajectory under wind loads by the SPSA method. Robotics and Technical Cybernetics, 9(4), pp.260-270.

UDC identifier:
519.711: 519.711

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